Methodss for performing non-contact based determination of the position of an implement

ABSTRACT

Embodiments of the present invention are directed to systems for performing non-contact based determination of the position of an implement. In one embodiment, a non-contact based measurement system is used to determine the relative position of an implement coupled with a mobile machine. The geographic position of the mobile machine is determined and the geographic position of said implement based upon the geographic position of the mobile machine and the position of the implement relative to the mobile machine.

CROSS-REFERENCES TO RELATED APPLICATIONS

The present application is a divisional of U.S. application Ser. No.13/795,945, filed Mar. 12, 2013, which is a divisional of U.S. patentapplication Ser. No. 10/928,070, filed Aug. 26, 2004, the entirecontents of which are incorporated by reference herein for all purposes.

The present Application also claims priority to International PatentApplication Number PCT/SE98/02167 by Lars Ericsson, et al., filed onNov. 27, 1998, entitled “Device and Method or Determining the Positionof a Working Part” and assigned to the assignee of the presentinvention.

FIELD OF THE INVENTION

Embodiments of the present invention are directed to positiondetermination systems. More specifically, embodiments of the presentinvention are directed to a method and system for determining theposition of an implement coupled with a mobile machine.

BACKGROUND OF THE INVENTION

Earth moving machines such as bulldozers, motor graders, scrapers,excavators, etc., are used to contour the ground for a variety ofprojects such as construction (e.g., roads, buildings, parks, and thelike), mining, and agriculture. In order to achieve a pre-determinedtopography, it is important that soil is accurately removed from oradded to selected areas. Therefore it is important to accurately controlthe operation of the working implement of the earth moving machineperforming the contouring. More specifically, it is important to knowthe geographic location of the working edge of the implement (e.g., thebottom edge of a bulldozer blade) in 3 dimensions (e.g., latitude,longitude, and elevation) to accurately contour the site.

FIG. 1 shows a bulldozer 100 which uses a prior art positioning systemto determine the location of the working edge 111 of blade 110. In FIG.1, bulldozer 100 utilizes two masts (e.g., masts 112 a and 112 b), eachof which are coupled with blade 110 and support a positioning systemantenna (e.g., antennas 113 a and 113 b). Antennas 113 a and 113 b areused to receive data signals from a positioning system (e.g., globalpositioning system (GPS), Glonass, etc.) to determine the position ofworking edge 111. For example, antenna 113 a receives a GPS signal whichis typically used to determine the geographic position of antenna 113 ain 3 dimensions. Similarly, antenna 113 b receives a GPS signal which isused to determine its geographic position in 3 dimensions.

Because the vector from antenna 113 a to corner 111 a is known, thegeographic position of corner 111 a can be derived using the geographicposition of antenna 113 a. Similarly, the geographic position of corner111 b can be derived. Using this information, the geographic position ofworking edge 111 can be derived.

One disadvantage to the positioning system of FIG. 1 is the necessity ofusing masts 112 a and 112 b to support antennas 113 a and 113 b.Antennas 113 a and 113 b are not typically mounted directly on blade 110because soil piling over the top of blade 110 will damage antennas 112 aand 112 b. Additionally, the masts elevate antennas 113 a and 113 b toimprove reception of the positioning system signals. Therefore masts 112a and 112 b are used to isolate antennas 113 a and 113 b from this typeof damage. However, when working in areas with overhanging tree branchesand/or heavy brush, antennas 112 a and 112 b are still exposed tophysical damage from the branches.

Another disadvantage of the positioning system of FIG. 1 is that thewires 114 a and 114 b coupling antennas 113 a and 113 b with a controlunit 115 are exposed and susceptible to damage (e.g., from overhangingbranches and/or brush). Additionally, antennas 113 a and 113 b areexposed to a significant amount of vibration when blade 110 is beingused, which can damage the antennas over time.

FIG. 2 shows an exemplary motor grader 200 using a prior art positioningsystem similar to the positioning system described above with referenceto FIG. 1. In the embodiment of FIG. 2, masts 212 a and 212 b coupleantennas 213 a and 213 b with blade 210. In addition to thedisadvantages discussed above with reference to FIG. 1, when used with amotor grader, masts 212 a and 212 b significantly restrict the range ofmotion of blade 210. For example, blade 210 can be rotated in 3dimensions with respect to motor grader 200 and can be offset from thecenter line axis of motor grader 200 such that it extends to one side orthe other of motor grader 200. Thus, a motor grader without masts 212 aand 212 b can typically extend blade 210 to the left until the rightside edge of blade 210 is directly under the center axis of beam 220 ofmotor grader 200. However, this range of motion for blade 210 isprevented in the embodiment of FIG. 2 by masts 212 a and 212 b.

Using contact-based measurement systems to determine the position of theblade are disadvantageous in that they require some or all of: steppermotors, potentiometers, accelerometers, etc., to determine the positionof the blade. These components can be incorporated into the machine whenit is built, or an after-market kit can be installed upon the vehicle.However, incorporating these components into the machine when it isbuilt can be too expensive for some users and the after-market kits arestill subject to the damage as described above.

SUMMARY OF THE INVENTION

Accordingly a need exists for a position determining system that candetermine the location of an implement relative to a mobile machine towhich it is coupled. While meeting the above stated need, it isadvantageous for such a system to not restrict the range of motion ofthe implement. It is further advantageous to remove components of theposition determining system from masts coupled with the implement toreduce the likelihood of damaging the components. Additionally, whilemeeting the above stated needs, it is advantageous that the positiondetermining system may be installed on the mobile machine as anaftermarket kit.

Embodiments of the present invention provide a position determiningsystem that can determine the location of an implement relative to amobile machine to which it is coupled. Additionally, embodiments of thepresent invention are less likely to restrict the range of motion of theimplement while determining the location of the implement relative to amobile machine to which it is coupled. Furthermore, embodiments of thepresent invention do not require the use of a mast-mounted system fordetermining the location of the implement relative to the mobilemachine, thus reducing the likelihood of damaging components of theposition determining system.

In one embodiment, a non-contact based measurement system is used todetermine the relative position of an implement coupled with a mobilemachine. The geographic position of the mobile machine is determined andthe geographic position of the implement is determined based upon thegeographic position of the mobile machine and the position of theimplement relative to the mobile machine.

Embodiments of the present invention do not necessitate mountingantennas for a position determining system on masts coupled with theimplement being used by the mobile machine in order to determine thegeographic position of the working edge of the implement. This isadvantageous because embodiments of the present invention reduce thelikelihood of damaging the position determining system antennas and areless likely to restrict the range of motion of the implement while it isbeing used. Furthermore, embodiments of the present invention determinethe position of the implement relative to the mobile machine withoutrequiring measurement of the complete linkage geometry of each componentdisposed between the implement and the mobile machine. As a result,embodiments of the present invention can be more readily installed as anafter market kit.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and form a part ofthis specification, illustrate embodiments of the present invention and,together with the description, serve to explain the principles of theinvention. Unless specifically noted, the drawings referred to in thisdescription should be understood as not being drawn to scale.

FIG. 1 shows a bulldozer using an exemplary prior art positioningsystem.

FIG. 2 shows a motor grader using an exemplary prior art positioningsystem.

FIG. 3 is a flowchart of a method for performing non-contact baseddetermination of the position of an implement in accordance withembodiments of the present invention.

FIG. 4 shows a system for performing non-contact based determination ofthe position of an implement in accordance with embodiments of thepresent invention.

FIGS. 5A and 5B show a non-contact based measurement system used inaccordance with embodiments of the present invention.

FIG. 6 shows a non-contact based measurement system implemented on amotor grader in accordance with embodiments of the present invention.

FIG. 7 shows an excavator using a non-contact based measurement systemin accordance with embodiments of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

Reference will now be made in detail to embodiments of the presentinvention, examples of which are illustrated in the accompanyingdrawings. While the present invention will be described in conjunctionwith the following embodiments, it will be understood that they are notintended to limit the present invention to these embodiments alone. Onthe contrary, the present invention is intended to cover alternatives,modifications, and equivalents which may be included within the spiritand scope of the present invention as defined by the appended claims.Furthermore, in the following detailed description of the presentinvention, numerous specific details are set forth in order to provide athorough understanding of the present invention. However, embodiments ofthe present invention may be practiced without these specific details.In other instances, well-known methods, procedures, components, andcircuits have not been described in detail so as not to unnecessarilyobscure aspects of the present invention.

FIG. 3 is a flowchart of a method for performing non-contact baseddetermination of the position of an implement in accordance withembodiments of the present invention. In step 310 of FIG. 3, anon-contact based measurement system is used to perform a firstmeasurement which determines the position of an implement relative to amobile machine to which the implement is coupled. For the purposes ofthe invention described herein, a non-contact based measurement systemrefers to a measurement system which determines the position of animplement relative to a mobile machine to which it is coupled withoutrequiring measurement of the position of each component comprising themechanical linkage coupling the implement and the mobile machine.

As will be described in greater detail below, embodiments of the presentinvention determine the position of an implement such as the blade of abulldozer or motor grader, the bucket of an excavator, or an implementusing a measurement system which does not rely upon mechanical contactbetween a point of interest on the implement and the measuringinstrument. For example, in embodiments of the present invention,determining the position of the machine's implement does not requiremeasurement of the extension of each of the hydraulic cylinders used tocontrol and manipulate the implement. In embodiments of the presentinvention, measurement of the distance and/or angle between a referencepoint on the mobile machine and a reference point on the implement ismade.

In step 320 of FIG. 3, a second measurement which determines thegeographic position and orientation of said mobile machine is performed.More specifically, embodiments of the present invention determine, in atleast one dimension, the position of a reference point of a mobilemachine. For example, measurement of the elevation of the mobile machinemay be determined. Alternatively, the two dimensional geographicposition (e.g., latitude and longitude) of the mobile machine may bedetermined or a combination of the elevation and two dimensionalgeographic position. While the present embodiment recites these examplesspecifically, it is appreciated that embodiments of the presentinvention are well suited for utilizing a variety of metrics andcombinations thereof for determining the geographic position of themobile machine.

Embodiments of the present invention use a position determiningapparatus mounted on a mobile machine to determine the position of themobile machine in at least one dimension (e.g., latitude, longitude, andelevation) or a combination thereof. Examples of mobile machines whichcan use embodiments of the present invention include, but are notlimited to, a bulldozer, a motor grader, an excavator, a skid-steerloader, a scraper, a trencher, a trimmer, a tractor with an attachment(e.g., a grading attachment), a paver (e.g., a concrete or an asphaltpaver), and a slip form concrete machine (e.g., a curb and guttermachine). It is appreciated that the term “excavator” may refer to astandard excavator, a tilting bucket excavator, a rotating bucketexcavator, as well as other configurations utilizing extra boom andstick components or front bucket configurations. While these particularmobile machines are recited, embodiments of the present invention arewell suited to be implemented in a variety of mobile machines used inagricultural, industrial, construction, mining, military, commercial,and consumer applications.

Embodiments of the present invention may utilize a variety ofterrestrial-based position determining systems such as LORAN-C, Decca,radio beacons, etc. Embodiments of the present invention may utilize acommercially available terrestrial-based position determining systemsuch as the ATS series manufactured by Trimble Navigation Ltd. ofSunnyvale Calif. Furthermore, the present invention is well suited toutilize future implementations of terrestrial-based position determiningsystems, e.g., the Rosum positioning technology. Additionally,embodiments of the present invention may utilize a variety ofsatellite-base position determining systems which can be utilized byembodiments of the present invention such as the Global PositioningSystem (GPS), Differential GPS (DGPS), Eurofix DGPS, the GlobalNavigation Satellite System (GLONASS), etc. Furthermore, the presentinvention is well suited to utilize future implementations ofsatellite-based position determining systems.

Embodiments of the present invention may also utilize positiondetermining system which is located proximate to the mobile machine. Inone embodiment, the present invention utilizes a Real-Time Kinematics(RTK) position determining system or a networked RTK system. RTKposition determining systems typically use two or more communicativelycoupled GPS receivers to determine a position of one receiver relativeto the other receiver.

In a typical RTK system, a first GPS receiver is located at a knownposition, often a surveyor's landmark or benchmark, or an otherwisesurveyed position, and the pseudorange data it collects is sent to thesecond GPS receiver, often referred to as a “rover,” via a radiocommunications link. The rover is used to determine the relativeposition of desired points according to the needs of the survey effort.Thus there is a radio transmitter associated with the first receiver,called a reference receiver or a base station receiver, and a radioreceiver at the rover. Pseudorange data from the satellites in view fromthe first receiver at the base station location is combined with datataken at the second rover receiver, and is processed at the roveraccording to well-known RTK methods to develop a position of the roverrelative to the base station position. Embodiments of the presentinvention may adapt the RTK system wherein the roving GPS unit ismounted in the mobile machine.

Network RTK, also referred to as a “Virtual Reference Station system”typically uses three or more GPS reference stations to collect GPS dataand extract information about the atmospheric and satellite ephemeriserrors affecting signals within the network coverage region. Data fromall the various reference stations is transmitted to a centralprocessing facility, or VRS control center for Network RTK. Suitablesoftware at the control center processes the reference station data toinfer how atmospheric and/or satellite ephemeris errors vary over theregion covered by the network.

The control center computer processor then applies a process whichinterpolates the atmospheric and/or satellite ephemeris errors at anygiven point within the network coverage area and generates a pseudorangecorrection comprising the actual pseudoranges that would be received atthe specified base station location, now referred to as the VirtualReference Station, and pseudorange corrections applicable to the regionsurrounding that location. The corrected pseudoranges calculated at theVRS control center are then delivered to the mobile machine. As will bediscussed below, embodiments of the present invention may use othersystems for determining the geographic position and orientation of themobile machine. Other ground-based position determining systems used inaccordance with embodiments of the present invention may use radiosignals to determine the geographic position of a base station and anoptical system (e.g., laser) to determine the position of the mobilemachine relative to the base station. In another embodiment, acombination of a terrestrial-based position determining system and asatellite-based position determining system are used to determine theposition of the mobile machine.

In embodiments of the present invention, the orientation (e.g., thedirection, roll, pitch, yaw, or a combination thereof) of the mobilemachine is determined as well its geographic position. As a result, theorientation of the implement can be derived as well. There are a varietyof methods for determining the orientation of the mobile machine inaccordance with embodiments of the present invention. These methodsinclude, but are not limited to using a compass and/or one or moregyroscopes, tilt sensors, and/or accelerometers.

It is appreciated that steps 310 and 320 do not have to be performed ina specific order. That is, step 320 may precede step 310, or the stepsmay be performed simultaneously in accordance with embodiments of thepresent invention. Additionally, a plurality of measurements fordetermining the position of the implement may correspond to a singlemeasurement of the geographic position of the mobile machine, or viceversa, in accordance with embodiments of the present invention.

In step 330 of FIG. 3, the geographic position and orientation of theimplement is determined using the first measurement and the secondmeasurement. In embodiments of the present invention, a control unit(e.g., mounted on the mobile machine) uses the first measurement of theposition of the implement relative to a point on the mobile machine andthe second measurement of the geographic position and orientation of themobile machine to determine the geographic position and orientation ofthe implement. In so doing, the present invention accurately determinesthe geographic position and orientation of a point of interest on theimplement such as the blade edge of a bulldozer, motor grader or theedge of a bucket of an excavator. More specifically, embodiments of thepresent invention may determine the geographic position of a point ofinterest on an implement without necessitating the use of blade mountedgeographic position sensors coupled with the implement. Additionally,embodiments of the present invention determine the geographic positionof a point of interest of the implement without requiring measurement ofthe position of each component comprising the mechanical linkagecoupling the implement and the mobile machine. As a result, embodimentsof the present invention do not restrict the range of motion of theimplement being measured, can be readily installed as an after-marketkit, and do not subject the components to less damage than conventionalimplementations.

FIG. 4 shows a system 400 for performing non-contact based determinationof the position of an implement in accordance with embodiments of thepresent invention. In the embodiment of FIG. 4, a non-contact basedmeasurement system is used to determine the position of blade 410relative to bulldozer 405. There are a variety of non-contact basedmeasurement systems that can be used to determine the position of blade410 in accordance with embodiments of the present invention.

In the embodiment of FIG. 4, an image recognition apparatus, comprisingan optical receiver 420 coupled with bulldozer 405, and a visualindicator 421, is used to determine the position of blade 410 relativeto bulldozer 405. In one embodiment, optical receiver 420 comprises adigital camera or one or more charged coupled devices (CCD). In thisembodiment, optical receiver 420 monitors the position of visualindicator 421 and determines when it has moved from a first position toa second position. In embodiments of the present invention, visualindicator 421 may comprise a recognizable image such as a light emitter(e.g., a visible light, an infra-red emitter, one or more light emittingdiodes (LEDs), etc.), a bar-code, a bulls eye or other graphic image,etc. Alternatively, visual indicator 421 may be an identifiable portionof blade 420 itself such as the upper right corner 422 of blade 420.When blade 420 is moved from a first position to a second positionrelative to bulldozer 405 (e.g. from a raised position to a loweredposition), optical receiver 420 sends the position data of the blade toa control unit 440 which determines the position of working edge 411.This is possible because the position of working edge 411 is known withrespect to visual indicator 421.

In embodiments of the present invention, determining the position ofworking edge 411 may comprise detecting the pixel position of visualindicator 421 at a first position using optical receiver 420 anddetecting the pixel position of visual indicator 421 in a secondposition. Using this data, control unit 440 determines how far workingedge 411 has moved by determining how many pixels separate the twoimages. In another embodiment, optical receiver 420 automatically tracksor aligns itself with visual indicator 421 using servo-motors. Controlunit 440 determines the angular difference between a first position anda second position of camera 420 when blade 410 is moved. There are avariety of systems known in the art which use a camera to automaticallytrack a moving visual target. Because the distances between opticalreceiver 420, visual indicator 421, and working edge 411 are known, thepresent invention can derive the position of working edge 411 relativeto bulldozer 405 by using optical receiver 420 to track visual indicator421.

System 400 also comprises a position determination system 430 fordetermining the geographic position and orientation of bulldozer 405. Asdiscussed above with reference to FIG. 3, embodiments of the presentinvention may utilize a terrestrial-based, a satellite-based (e.g., GPS)position determination system, or a combination thereof. Additionally,the position determination system may be located on bulldozer 405 or ata location proximate to bulldozer 405.

In embodiments of the present invention, a RTK base station may be usedto determine the geographic position of bulldozer 405. Embodiments ofthe present invention may also utilize a networked RTK system, alsoknown as a “virtual reference station” or “VRS” system, to determine thegeographic position of bulldozer 405 with a greater degree of precisionthan is possible using an un-aided GPS position fix. For example, anun-aided GPS unit can fix its geographic position with a resolution ofapproximately 10 meters. However, when the pseudorange data from a VRScontrol center is correlated with the initial position fix performed bybulldozer 405, a resolution of 1 centimeter over 10 kilometers isrealized in the horizontal plane, and 2 centimeters over 10 kilometersis realized in the vertical plane is realized.

Another example of a position determination system located proximate toa mobile machine is described in International Patent Application numberWO 99/28565, entitled “A Device and Method for Determining the Positionof a Working Part,” by Lars Eriksson and Mikael Hertzman, andincorporated as reference herein in its entirety. In the patentapplication a reference station is placed in proximity to a workingmachine. The geographic position of the reference station is determinedand the reference station then automatically tracks the working machineas it moves. The working machine utilizes accelerometers to detect morerapid movements of the machine than might be detected by the referencestation.

In another embodiment, the present invention uses a pair of laserreference stations which are located at a known distance from each otherproximate to the mobile machine. The geographic position of thereference stations is determined and angle of intercept from bothreference stations to a target point (e.g., a reference point onbulldozer 405) is determined. Using this information, it is possible toderive the distance from the reference stations to the target point,thus determining the geographic position of the target point.Embodiments of this type of position determination system are known inthe art and may be utilized in embodiments of the present invention.

For clarity, it will be assumed that in the embodiment of FIG. 4position determination system 430 comprises a GPS unit mounted onbulldozer 405 to determine the geographic position of the bulldozer. Itis appreciated that embodiments of the present invention positiondetermination system 430 determines the geographic position of bulldozer405 in at least one dimension. That is, the latitude, longitude,elevation, or a combination thereof of a reference point on bulldozer405 may be determined in embodiments of the present invention.

As described above, system 400 further comprises a control unit 440 fordetermining the geographic position and orientation of working edge 411using the data from the position determination system and thenon-contact based measurement of the position of blade 410. Inembodiments of the present invention, this functionality may beincorporated in GPS unit 430, or performed by a separate component(e.g., control unit 440). Additionally, components for determining theorientation of bulldozer 405 may be incorporated in control unit 440,GPS unit 430 or a separate unit (not shown) which is communicativelycoupled with control unit 440.

As described above, system 400 performs non-contact based determinationof the position of an implement (e.g., blade 410 of FIG. 4). Morespecifically, the geographic position of working edge 411 is determinedby the present invention without the necessity of measuring the positionof each component coupling working edge 411 with bulldozer 405.Additionally, system 400 is a does not require mounting components ofthe system on masts coupled with bulldozer 405 or blade 410. As aresult, the components of system 400 are not as exposed to damage fromdirt, branches, brush, etc., than is realized using present systems.

Embodiments of system 400 may also be implemented without restrictingthe range of motion of the implement or the mobile machine utilizing theimplement. As described above, mast mounted sensors can physicallyrestrict the range of motion of the implement for certain types ofmachines such as motor graders. Additionally, operators of some machinesmay be reluctant to use the machines in heavy brush or wooded areas toavoid damaging the exposed position sensors. Embodiments of system 400may be installed upon bulldozer 405 as an after market kit. In otherwords, camera 420, visual indicator 421, position determination system430, and control unit 440 may be purchased separately from bulldozer 405and installed after bulldozer 405 has been manufactured.

FIGS. 5A and 5B show a non-contact based measurement system 500 used inaccordance with embodiments of the present invention. In one embodimentof FIGS. 5A and 5B, system 500 is a light-based measurement systemcomprising an emitter/detector 510 coupled with mobile machine 520(e.g., a bulldozer, motor grader, excavator, etc.), and a reflector 530coupled with implement 540 (e.g., a blade of a bulldozer or motorgrader, or the bucket of an excavator). In embodiments of the presentinvention, light in the visible spectrum or non-visible spectrum can beused in system 500. For example, in one embodiment, emitter/detector 510may comprise a laser system which measures changes in the position ofreflector 530 when implement 540 is moved from a first position to asecond position relative to mobile machine 520. In another embodiment,system 500 uses, for example, light infra-red light to measure theposition of implement 540.

In embodiments of the present invention, emitter/detector 510 detects achange in the angle to reflector 530 when implement 540 is movedrelative to mobile machine 520. For example, in one embodimentemitter/detector 510 detects movement of implement 540 by detecting thechange in the incidence angle of light reflected back from reflector530. In another embodiment of the present invention, emitter/detector510 is a servo-controlled optical unit which automatically aligns withreflector 530 in response to changes in the position of implement 540.The alignment of emitter/detector 510 can be used to determine positionof implement 540 relative to mobile machine 520.

Alternatively, emitter/detector 510 may detect a change in the distanceto reflector 530 when implement 540 is moved relative to mobile machine520. In embodiments of the present invention, emitter/detector 510 is adistance determination unit which detects changes in the distance toreflector 530 when implement 540 is moved from a first position to asecond position relative to mobile machine 520. In embodiments of thepresent invention, determining the distance between emitter/detector 510and reflector 530 may be accomplished using light (e.g., a lasersystem), sound (e.g., ultrasonic), or radio systems. In anotherembodiment, emitter/detector 530 can detect a change in both thedistance and angle to reflector 530 when implement 540 is moved relativeto mobile machine 520.

In embodiments of the present invention, reflector 530 comprises a retroreflector. Retroreflectors are sometimes called “corner cubes” becausethe reflecting surfaces are typically three mutually perpendicular faceslike the corner of a cube. Light entering a retroreflector is reflectedback 180° and parallel to the original beam, regardless of itsorientation to the beam. With reference to FIG. 5A, light fromemitter/detector 510 is reflected back 180 and is then detected byemitter/detector 510. While the present embodiment recites a retroreflector specifically, embodiments of the present invention may utilizea variety of reflecting devices or targets to determine the position ofimplement 540.

It is appreciated that in embodiments of the present invention more thanone emitter/detector 510 and/or reflector 530 may be used to determinethe position of implement 540. For example, when used to measure theposition of the blade of a motor grader, system 500 may use a pluralityof emitter/detectors and reflectors to determine the three dimensionalposition of the blade relative to the motor grader. In one embodiment,more than one emitter/detector may be associated with a single reflectoror vice versa. Alternatively, embodiments of the present invention mayuse one system to determine a change in the angle between anemitter/detector and its associated reflector and a second system todetermine a change in the distance between a second emitter/detector andits associated reflector.

Referring now to FIG. 5B, an emitter 550 is coupled with implement 540and detector 560 is coupled with mobile machine 520. In embodiments ofthe present invention, emitter 550 may comprise a laser emitter, aninfra-red emitter, a light emitting diode (LED), a radio emitter, asound emitter, etc. Embodiments of the present invention use detector560 to determine when implement 540 is moved from a first position to asecond position relative by detecting the difference in incidence anglefrom emitter 550, or the distance between emitter 550 and detector 560.In another embodiment of the present invention, detector 560 is aservo-controlled optical unit which automatically aligns with emitter550 in response to changes in the position of implement 540. Thealignment of detector 560 can be used to determine position of implement540 relative to mobile machine 520. In another embodiment, detector 560detects a phase difference in light from emitter 550 when implement 540is moved from a first position to a second position relative to mobilemachine 520.

In other embodiments of the present invention, system 500 comprises asound-based measurement apparatus. Referring again to FIG. 5A, inembodiments of the present invention emitter/detector 510 is coupledwith mobile machine 520 and emits an audible signal (e.g., anultra-sonic signal) which is reflected by reflector 530 coupled withimplement 540. For example, when implement 540 is moved from a firstposition to a second position, a change in the frequency of the audiosignal may allow determining the position of implement 540 relative tomobile machine 520. In another embodiment, emitter/detector 510comprises a directional microphone which can automatically align withthe reflected signal from reflector 540 (e.g., using servo-motors totrack the strongest signal).

Referring again to FIG. 5B, an audio emitter 550 is coupled withimplement 540 and detector 560 is coupled with mobile machine 520.Embodiments of the present invention use detector 560 to determine whenimplement 540 is moved from a first position to a second positionrelative by detecting the change in frequency or signal strength of theaudio signal from emitter 550. In another embodiment of the presentinvention, detector 560 is a servo-controlled directional microphonewhich automatically aligns with emitter 550 in response to changes inthe position of implement 540. The alignment of detector 560 can be usedto determine position of implement 540 relative to mobile machine 520.In embodiments of the present invention, audio emitter 550 is coupledwith mobile machine 520 and detector 560 is coupled with implement 540.

FIG. 6 shows a non-contact based measurement system 600 implemented on amotor grader in accordance with embodiments of the present invention. Inone embodiment, a plurality of emitter/detectors 610 are coupled withmotor grader 605. Additionally, a plurality of reflectors 620 arecoupled with blade 630. In embodiments of the present invention,emitter/detectors 610 and reflectors 620 may comprise either alight-based or sound-based measurement system as described above withreference to FIGS. 5A and 5B. Additionally, reflectors 620 andemitter/detectors 610 may detect a change in angle, a change indistance, or both when blade 630 is moved relative to motor grader 605.While the embodiment of FIG. 6 shows 4 emitter/detectors 610,embodiments of the present invention may utilize more or feweremitter/detectors based upon the system requirements.

In another embodiment, a plurality of detectors 610 are coupled withmotor grader 605 and a plurality of emitters 620 are coupled with blade630. As discussed above with reference to FIGS. 5A and 5B, detectors 610and emitters 620 may comprise a light-based or sound-based measurementsystem in embodiments of the present invention. Additionally, emitters620 and detectors 610 may detect a change in angle, a change indistance, or both when blade 630 is moved relative to motor grader 605.While the embodiment of FIG. 6 shows 4 detectors 610, embodiments of thepresent invention may utilize more or fewer detectors based upon thesystem requirements. Embodiments of the present invention may alsoutilize an image recognition apparatus as described above with referenceto FIG. 4 on a motor grader.

FIG. 7 shows an excavator using a non-contact based measurement systemin accordance with embodiments of the present invention. In theembodiment of FIG. 7, a plurality of sensors (e.g., 710 a-710 c) arecoupled with excavator 705. In embodiments of the present invention,each of sensors 710 a-710 c detects changes in the position of thecomponent of the boom to which the respective sensor is attached. Forexample, in FIG. 7, sensor 710 a is coupled with arm 705 a, gravitysensor 710 b is coupled with arm 705 b, and gravity sensor 710 c iscoupled with bucket 720. As bucket 720 is moved, sensors 710 a-710 cdetect the angular changes relative to the ground to determine theextension of arm 705. In an embodiment of the present invention, sensor710 c comprises a cylinder extension sensor for determining the positionof bucket 720 by determining the extension of the hydraulic cylinder721. Using an extension sensor is advantageous in some situations suchas when bucket 720 may be immersed in water or below the ground level(e.g., when digging a trench). In such an instance, the operation of alight-based or sound based measurement apparatus may be hindered due todiscontinuities in the line of sight between bucket 720 and excavator700. In one embodiment, the position data from cylinder extension sensor710 c as well as from sensor(s) 710 a and/or 710 b is sent to controlunit 730 wirelessly. It is appreciated that position data from each ofarm 710 a, 710 b, and bucket 720 are not necessary for control unit 730to determine the position of bucket 720. Because the geometry of thearms which couple cabin 740 with bucket 720 is known, the position ofthe working edge of bucket 720 can be determined using data describingthe extension of hydraulic cylinder 721 and, for example, the positionof sensor 710 b. An additional sensor (not shown) may be used to detecthorizontal rotation of cabin 740. In other embodiments of the presentinvention, the angle of extension of one of the arms 705 a or 705 b orbucket 720 may be determined using a tilt sensor or an angle extensionsensor and transmitted to control unit 730.

The preferred embodiment of the present invention, a method and systemfor performing non-contact based determination of an implement, is thusdescribed. While the present invention has been described in particularembodiments, it should be appreciated that the present invention shouldnot be construed as limited by such embodiments, but rather construedaccording to the following claims.

What is claimed is:
 1. A method for performing non-contact baseddetermination of the position of an implement comprising: using anon-contact based measurement system to determine a first measurementcomprising the position of said implement relative to a mobile machinecoupled with said implement and an angle between the implement and aparticular part of said mobile machine, wherein said implement includesan emitter coupled thereto and said mobile machine includes a detectorcoupled thereto, and determining said first measurement includesemitting a one-way transmission of light from said emitter that travelswithout changing direction, receiving said one-way transmission of lightat said detector to determine said angle, and using said angle todetermine said position of said implement relative to said mobilemachine; using a position determining apparatus to determine a secondmeasurement comprising the geographic position of said mobile machine;and using a control system to determine the geographic position of saidimplement using said first measurement and said second measurement. 2.The method as recited in claim 1 wherein said mobile machine is selectedfrom the group consisting of a bulldozer, a motor grader, an excavator,a skid-steer loader, a scraper, a trencher, a trimmer, a tractor with anattachment, a paver, and a slip form concrete machine.
 3. The method asrecited in claim 1 wherein said determining said second measurementcomprises: utilizing a terrestrial-based position determining system todetermine said second measurement.
 4. The method as recited in claim 1wherein said determining said second measurement comprises: utilizing asatellite-based position determining system to determine said secondmeasurement.
 5. The method as recited in claim 1 wherein saiddetermining said second measurement further comprises: utilizing asystem that combines a terrestrial-based position determining systemwith a satellite-based position determining system to determine saidsecond measurement.
 6. The method as recited in claim 1 wherein saidposition determining apparatus is located proximate to said mobilemachine to determine said second measurement.
 7. The method as recitedin claim 1 wherein determining said first measurement comprises:utilizing an image recognition apparatus to determine said firstmeasurement.
 8. The method as recited in claim 7 wherein said imagerecognition apparatus determines a location of a visual indicatorproximate to said implement.
 9. The method as recited in claim 1 whereindetermining said first measurement comprises: utilizing a light-basedmeasurement apparatus to determine said first measurement.
 10. Themethod as recited in claim 9 wherein determining said first measurementfurther comprises: generating said one-way transmission of light in thevisible spectrum; and determining said first measurement by measuring aphase-shift of said one-way transmission of light or determining atime-of-flight of said one-way transmission of light between saidemitter and said detector.
 11. The method as recited in claim 9 whereindetermining said first measurement further comprises: generating saidone-way transmission of light in the non-visible spectrum; anddetermining said first measurement by measuring a phase-shift of saidone-way transmission of light or determining a time-of-flight of saidone-way transmission of light between said emitter and said detector.12. The method as recited in claim 1 wherein determining said firstmeasurement comprises: utilizing a sound-based measurement apparatus todetermine said first measurement.
 13. The method as recited in claim 1wherein determining said first measurement comprises: determining adifference in said angle between said implement and said particular partof said mobile machine when said implement is moved from a firstposition to a second position.
 14. The method as recited in claim 1wherein determining said first measurement comprises: determining adifference in a distance between said implement and said mobile machinewhen said implement is moved from a first position to a second position.15. The method as recited in claim 1 wherein determining said secondmeasurement further comprises: determining an orientation of said mobilemachine.